// This file is part of Sophus.
//
// Copyright 2012-2013 Hauke Strasdat
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights  to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.

#include <iostream>
#include <vector>

#include <unsupported/Eigen/MatrixFunctions>
#include "se2.hpp"
#include "tests.hpp"

using namespace Sophus;
using namespace std;

template<class Scalar>
void tests() {
	
	typedef SO2Group<Scalar> SO2Type;
	typedef SE2Group<Scalar> SE2Type;
	typedef typename SE2Group<Scalar>::Point Point;
	typedef typename SE2Group<Scalar>::Tangent Tangent;
	
	vector<SE2Type> se2_vec;
	se2_vec.push_back(SE2Type(SO2Type(0.0),Point(0,0)));
	se2_vec.push_back(SE2Type(SO2Type(0.2),Point(10,0)));
	se2_vec.push_back(SE2Type(SO2Type(0.),Point(0,100)));
	se2_vec.push_back(SE2Type(SO2Type(-1.),Point(20,-1)));
	se2_vec.push_back(SE2Type(SO2Type(0.00001),
							  Point(-0.00000001,0.0000000001)));
	se2_vec.push_back(SE2Type(SO2Type(0.2),Point(0,0))
	*SE2Type(SO2Type(M_PI),Point(0,0))
	*SE2Type(SO2Type(-0.2),Point(0,0)));
	se2_vec.push_back(SE2Type(SO2Type(0.3),Point(2,0))
	*SE2Type(SO2Type(M_PI),Point(0,0))
	*SE2Type(SO2Type(-0.3),Point(0,6)));
	
	vector<Tangent> tangent_vec;
	Tangent tmp;
	tmp << 0,0,0;
	tangent_vec.push_back(tmp);
	tmp << 1,0,0;
	tangent_vec.push_back(tmp);
	tmp << 0,1,1;
	tangent_vec.push_back(tmp);
	tmp << -1,1,0;
	tangent_vec.push_back(tmp);
	tmp << 20,-1,-1;
	tangent_vec.push_back(tmp);
	tmp << 30,5,20;
	tangent_vec.push_back(tmp);
	
	vector<Point> point_vec;
	point_vec.push_back(Point(1,2));
	
	Tests<SE2Type> tests;
	tests.setGroupElements(se2_vec);
	tests.setTangentVectors(tangent_vec);
	tests.setPoints(point_vec);
	
	tests.runAllTests();
}

int main() {
	cerr << "Test SE2" << endl << endl;
	
	cerr << "Double tests: " << endl;
	tests<double>();
	
	cerr << "Float tests: " << endl;
	tests<float>();
	return 0;
}
